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<div class="title">mat44.cpp</div>  </div>
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<a href="mat44_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160; </div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;</div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="__gbmath_8h.html" title="MAIN INCLUDE HEADER. ">_gbmath.h</a>&quot;</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;</div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="keyword">namespace </span>gbmath</div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;{</div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;</div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;</div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div>
<div class="line"><a name="l00011"></a><span class="lineno"><a class="code" href="structgbmath_1_1mat44.html#a298bdf8a6a7c927b31a9442e4faf7615">   11</a></span>&#160;<a class="code" href="structgbmath_1_1mat44.html" title="matrix 4x4. ">mat44</a>&amp; <a class="code" href="structgbmath_1_1mat44.html#a298bdf8a6a7c927b31a9442e4faf7615">mat44::setRotationQuaternion</a>(<span class="keyword">const</span>  <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a>&amp; q)</div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;{</div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;</div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;    <a class="code" href="structgbmath_1_1mat44.html" title="matrix 4x4. ">mat44</a> t  (</div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;        1.0f - 2.0f*q.<a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a>*q.<a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a> - 2.0f*q.<a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a>*q.<a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a>,   2.0f*q.<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a>*q.<a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a> - 2.0f*q.<a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a>*q.<a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a>,         2.0f*q.<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a>*q.<a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a> + 2.0f*q.<a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a>*q.<a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a>,          0.0f,</div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;        2.0f*q.<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a>*q.<a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a> + 2.0f*q.<a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a>*q.<a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a>,          1.0f - 2.0f*q.<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a>*q.<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a> - 2.0f*q.<a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a>*q.<a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a>,  2.0f*q.<a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a>*q.<a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a> - 2.0f*q.<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a>*q.<a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a>,          0.0f,</div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;        2.0f*q.<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a>*q.<a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a> - 2.0f*q.<a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a>*q.<a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a>,          2.0f*q.<a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a>*q.<a class="code" href="classgbmath_1_1_quaternion.html#a59b779f21113c09d454efcec2091c8ba">z</a> + 2.0f*q.<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a>*q.<a class="code" href="classgbmath_1_1_quaternion.html#a7fe1a860e7668f2176c694372224c492">w</a>,         1.0f - 2.0f*q.<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a>*q.<a class="code" href="classgbmath_1_1_quaternion.html#a3882c651300845816e1217cba2603365">x</a> - 2.0f*q.<a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a>*q.<a class="code" href="classgbmath_1_1_quaternion.html#a840d387bebcaf33ee8120e27da850b50">y</a>,   0.0f,</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;        0.0f,                                 0.0f,                                0.0f,                                 1.0f);</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    t.<a class="code" href="structgbmath_1_1mat44.html#a70e3d2546a6de9bec292e60237efeb54" title="Transposition. (Reflection of the elements on the main diagonal) CHEKED! ">transpone</a>();</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    *<span class="keyword">this</span> = t;</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;}</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;</div>
<div class="line"><a name="l00028"></a><span class="lineno"><a class="code" href="structgbmath_1_1mat44.html#ae5c6bf960992d3ccc29c96b1328bdae1">   28</a></span>&#160;<a class="code" href="structgbmath_1_1mat44.html" title="matrix 4x4. ">mat44</a>&amp; <a class="code" href="structgbmath_1_1mat44.html#ae5c6bf960992d3ccc29c96b1328bdae1">mat44::setTransformation</a>(<span class="keyword">const</span> <a class="code" href="structgbmath_1_1vec3.html" title="3d-base vector. Corrected by operators epislon ">vec3</a>&amp; vScale,</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;                                <span class="keyword">const</span>  <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a>&amp; qRotation,</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;                                <span class="keyword">const</span> <a class="code" href="structgbmath_1_1vec3.html" title="3d-base vector. Corrected by operators epislon ">vec3</a>&amp; vTranslation)</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;{</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;   <a class="code" href="structgbmath_1_1mat44.html" title="matrix 4x4. ">mat44</a> ms;</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;   ms.<a class="code" href="structgbmath_1_1mat44.html#afc1e52c69594b37f564d3939d9b62e0e">setScaling</a>( vScale );</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;   <a class="code" href="structgbmath_1_1mat44.html" title="matrix 4x4. ">mat44</a> mr;</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;   mr.<a class="code" href="structgbmath_1_1mat44.html#a298bdf8a6a7c927b31a9442e4faf7615">setRotationQuaternion</a>(  qRotation );</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;   <a class="code" href="structgbmath_1_1mat44.html" title="matrix 4x4. ">mat44</a> mt;</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;   mt.<a class="code" href="structgbmath_1_1mat44.html#af8e1759531d7a78d1c73c314d6afffbf">setTranslation</a>(  vTranslation );</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;   *<span class="keyword">this</span> = mt * mr * ms;</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;   <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;}</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div>
<div class="line"><a name="l00047"></a><span class="lineno"><a class="code" href="structgbmath_1_1mat44.html#ac3c20c17fc7453171592e501eddd7803">   47</a></span>&#160;<a class="code" href="structgbmath_1_1mat44.html" title="matrix 4x4. ">mat44</a>&amp; <a class="code" href="structgbmath_1_1mat44.html#ac3c20c17fc7453171592e501eddd7803">mat44::setWorldTransform</a>(<span class="keyword">const</span> <a class="code" href="structgbmath_1_1_transform_data.html" title=": ">TransformData</a>&amp; t)</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="structgbmath_1_1mat44.html#ae5c6bf960992d3ccc29c96b1328bdae1">setTransformation</a>(t.<a class="code" href="structgbmath_1_1_transform_data.html#ac3e155d15c415cd7a0c7c0faafcaaccf" title="scaling ">vScaling</a>, t.<a class="code" href="structgbmath_1_1_transform_data.html#aacf88f91f6726d303a772d65a4884096" title="rotation ">qRotation</a>, t.<a class="code" href="structgbmath_1_1_transform_data.html#ae44993a9e4dc1b4c6c68415eb592d6cc" title="position ">vTranslation</a> );</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;}</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;</div>
<div class="line"><a name="l00053"></a><span class="lineno"><a class="code" href="structgbmath_1_1mat44.html#a211c6babdc8c610008dfb2cec9a9c8e0">   53</a></span>&#160;<a class="code" href="structgbmath_1_1mat44.html" title="matrix 4x4. ">mat44</a>&amp; <a class="code" href="structgbmath_1_1mat44.html#a211c6babdc8c610008dfb2cec9a9c8e0" title="Construction of a matrix reflection plane. ">mat44::setReflection</a>(<span class="keyword">const</span> <a class="code" href="structgbmath_1_1plane__s.html" title="plane in 3d ">plane_s</a>&amp; plane )</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;{</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="keywordtype">float</span> a, b, c, d;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> k = sqrt( plane.<a class="code" href="structgbmath_1_1plane__s.html#a4aaccd5889da75e7709147e4073dbe63">a</a>*plane.<a class="code" href="structgbmath_1_1plane__s.html#a4aaccd5889da75e7709147e4073dbe63">a</a> + plane.<a class="code" href="structgbmath_1_1plane__s.html#a7d5f9da13b581ba03a99a6b37c68724c">b</a>*plane.<a class="code" href="structgbmath_1_1plane__s.html#a7d5f9da13b581ba03a99a6b37c68724c">b</a> + plane.<a class="code" href="structgbmath_1_1plane__s.html#a6962e88edd85b1867cc60b7ece9c51ef">c</a>*plane.<a class="code" href="structgbmath_1_1plane__s.html#a6962e88edd85b1867cc60b7ece9c51ef">c</a> );</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    a = plane.<a class="code" href="structgbmath_1_1plane__s.html#a4aaccd5889da75e7709147e4073dbe63">a</a> / k;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    b = plane.<a class="code" href="structgbmath_1_1plane__s.html#a7d5f9da13b581ba03a99a6b37c68724c">b</a> / k;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    c = plane.<a class="code" href="structgbmath_1_1plane__s.html#a6962e88edd85b1867cc60b7ece9c51ef">c</a> / k;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    d = plane.<a class="code" href="structgbmath_1_1plane__s.html#a6e8a5a04c1ed7f04ceadc93aa69d141c">d</a> / k;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <a class="code" href="structgbmath_1_1mat44.html" title="matrix 4x4. ">mat44</a> Out;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    Out.<a class="code" href="structgbmath_1_1mat44.html#af3e99cb3e2fa6aeb124b9f27964f2003">_11</a>=1.0f-2.0f* <a class="code" href="namespacegbmath.html#af7ceb382df8a74edbe983b1745229cce" title="x*x ">sqr</a>(a);   Out.<a class="code" href="structgbmath_1_1mat44.html#ae487a7a18dc991d17b5de87334728e6c">_12</a>=-2.0f*b*a;                  Out.<a class="code" href="structgbmath_1_1mat44.html#abc27402f91ffb83ab0eb46bf591db261">_13</a>=-2.0f*c*a;                 Out.<a class="code" href="structgbmath_1_1mat44.html#a1263c82107dce40f62bbf223d4a2fe58">_14</a>=0.0f;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    Out.<a class="code" href="structgbmath_1_1mat44.html#ae3126d9cf5d065ee9d24b3de96a5f17f">_21</a>=-2.0f*a*b;                    Out.<a class="code" href="structgbmath_1_1mat44.html#a51a6825aacf2e40c7f4c1774d4105d9a">_22</a>=1.0f-2.0f* <a class="code" href="namespacegbmath.html#af7ceb382df8a74edbe983b1745229cce" title="x*x ">sqr</a>(b);  Out.<a class="code" href="structgbmath_1_1mat44.html#a2e13ed94b2f1c06f590005498e834c41">_23</a>=-2.0f*c*b;                    Out.<a class="code" href="structgbmath_1_1mat44.html#a02e896a0d8bb375f430fc387ff773248">_24</a>=0.0f;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    Out.<a class="code" href="structgbmath_1_1mat44.html#aabf304b5ece7ff9d2a006ca0467a3b27">_31</a>=-2.0f*a*c;                   Out.<a class="code" href="structgbmath_1_1mat44.html#aa725b6a8854a3dea9cad3e393a42200a">_32</a>=-2.0f*b*c;                  Out.<a class="code" href="structgbmath_1_1mat44.html#a5808bf751702b406781bf8d6e2a82408">_33</a>=1.0f-2.0f* <a class="code" href="namespacegbmath.html#af7ceb382df8a74edbe983b1745229cce" title="x*x ">sqr</a>(c);  Out.<a class="code" href="structgbmath_1_1mat44.html#a0be86c8b892139d6fcd141a78d9bf02f">_34</a>=0.0f;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    Out.<a class="code" href="structgbmath_1_1mat44.html#a455efa123492579000a3f1ab054d86af">_41</a>=-2.0f*a*d;                   Out.<a class="code" href="structgbmath_1_1mat44.html#a2701cfe76461e9722ac37cc8afac457e">_42</a>=-2.0f*b*d;                  Out.<a class="code" href="structgbmath_1_1mat44.html#a47300a3aa5bb132868de2a94fe79d6e3">_43</a>=-2.0f*c*d;                 Out.<a class="code" href="structgbmath_1_1mat44.html#a0bf5358db28c4ccfe5d366b31b3a297f">_44</a>=1.0f;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    *<span class="keyword">this</span> = Out;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;}</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;</div>
<div class="line"><a name="l00080"></a><span class="lineno"><a class="code" href="structgbmath_1_1mat44.html#acc58f467c3fe9d3c3808d42a455de4b2">   80</a></span>&#160;<a class="code" href="structgbmath_1_1mat44.html" title="matrix 4x4. ">mat44</a>&amp;  <a class="code" href="structgbmath_1_1mat44.html#acc58f467c3fe9d3c3808d42a455de4b2" title="Make shadow matrix. Rendering shadows. CHEKED! ">mat44::setShadow</a>(<span class="keyword">const</span> <a class="code" href="structgbmath_1_1vec4.html" title="4d-base vector. Corrected by operators epislon ">vec4</a>&amp; Light, <span class="keyword">const</span> <a class="code" href="structgbmath_1_1plane__s.html" title="plane in 3d ">plane_s</a>&amp; Plane )</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;{</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="keywordtype">float</span> a,b,c,d;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> k = sqrt(  <a class="code" href="namespacegbmath.html#af7ceb382df8a74edbe983b1745229cce" title="x*x ">sqr</a>(Plane.<a class="code" href="structgbmath_1_1plane__s.html#a4aaccd5889da75e7709147e4073dbe63">a</a>) +  <a class="code" href="namespacegbmath.html#af7ceb382df8a74edbe983b1745229cce" title="x*x ">sqr</a>(Plane.<a class="code" href="structgbmath_1_1plane__s.html#a7d5f9da13b581ba03a99a6b37c68724c">b</a>) +  <a class="code" href="namespacegbmath.html#af7ceb382df8a74edbe983b1745229cce" title="x*x ">sqr</a>(Plane.<a class="code" href="structgbmath_1_1plane__s.html#a6962e88edd85b1867cc60b7ece9c51ef">c</a>) );</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    a = Plane.<a class="code" href="structgbmath_1_1plane__s.html#a4aaccd5889da75e7709147e4073dbe63">a</a> / k;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    b = Plane.<a class="code" href="structgbmath_1_1plane__s.html#a7d5f9da13b581ba03a99a6b37c68724c">b</a> / k;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    c = Plane.<a class="code" href="structgbmath_1_1plane__s.html#a6962e88edd85b1867cc60b7ece9c51ef">c</a> / k;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    d = Plane.<a class="code" href="structgbmath_1_1plane__s.html#a6e8a5a04c1ed7f04ceadc93aa69d141c">d</a> / k;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <span class="keywordtype">float</span> x,y,z,w;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    x = Light.<a class="code" href="structgbmath_1_1vec4.html#aa582ac8ae0bccecfad6ff896b67dce58">x</a>;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    y = Light.<a class="code" href="structgbmath_1_1vec4.html#a7a9daee020a66a557a463c2e977040ce">y</a>;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    z = Light.<a class="code" href="structgbmath_1_1vec4.html#aeac33b41a3e3415604a11e1e3ce21046">z</a>;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    w = Light.<a class="code" href="structgbmath_1_1vec4.html#a17d5ca05d4b45f45c32ecbc90034fb7d">w</a>;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="keywordtype">float</span> f = Light.<a class="code" href="structgbmath_1_1vec4.html#aa582ac8ae0bccecfad6ff896b67dce58">x</a>*Plane.<a class="code" href="structgbmath_1_1plane__s.html#a14c63767c70fa25afaafce8d272032cb">x</a> + Light.<a class="code" href="structgbmath_1_1vec4.html#a7a9daee020a66a557a463c2e977040ce">y</a>*Plane.<a class="code" href="structgbmath_1_1plane__s.html#a7d5f9da13b581ba03a99a6b37c68724c">b</a> + Light.<a class="code" href="structgbmath_1_1vec4.html#aeac33b41a3e3415604a11e1e3ce21046">z</a>*Plane.<a class="code" href="structgbmath_1_1plane__s.html#a6962e88edd85b1867cc60b7ece9c51ef">c</a> + Light.<a class="code" href="structgbmath_1_1vec4.html#a17d5ca05d4b45f45c32ecbc90034fb7d">w</a>*Plane.<a class="code" href="structgbmath_1_1plane__s.html#a6e8a5a04c1ed7f04ceadc93aa69d141c">d</a>;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <a class="code" href="structgbmath_1_1mat44.html" title="matrix 4x4. ">mat44</a> Out;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    Out.<a class="code" href="structgbmath_1_1mat44.html#af3e99cb3e2fa6aeb124b9f27964f2003">_11</a>=f-x*a;  Out.<a class="code" href="structgbmath_1_1mat44.html#ae487a7a18dc991d17b5de87334728e6c">_12</a>=-y*a;    Out.<a class="code" href="structgbmath_1_1mat44.html#abc27402f91ffb83ab0eb46bf591db261">_13</a>=-z*a;    Out.<a class="code" href="structgbmath_1_1mat44.html#a1263c82107dce40f62bbf223d4a2fe58">_14</a>=-w*a;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    Out.<a class="code" href="structgbmath_1_1mat44.html#ae3126d9cf5d065ee9d24b3de96a5f17f">_21</a>=-x*b;   Out.<a class="code" href="structgbmath_1_1mat44.html#a51a6825aacf2e40c7f4c1774d4105d9a">_22</a>=f-y*b;   Out.<a class="code" href="structgbmath_1_1mat44.html#a2e13ed94b2f1c06f590005498e834c41">_23</a>=-z*b;    Out.<a class="code" href="structgbmath_1_1mat44.html#a02e896a0d8bb375f430fc387ff773248">_24</a>=-w*b;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    Out.<a class="code" href="structgbmath_1_1mat44.html#aabf304b5ece7ff9d2a006ca0467a3b27">_31</a>=-x*c;   Out.<a class="code" href="structgbmath_1_1mat44.html#aa725b6a8854a3dea9cad3e393a42200a">_32</a>=-y*c;    Out.<a class="code" href="structgbmath_1_1mat44.html#a5808bf751702b406781bf8d6e2a82408">_33</a>=f-z*c;   Out.<a class="code" href="structgbmath_1_1mat44.html#a0be86c8b892139d6fcd141a78d9bf02f">_34</a>=-w*c;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    Out.<a class="code" href="structgbmath_1_1mat44.html#a455efa123492579000a3f1ab054d86af">_41</a>=-x*d;   Out.<a class="code" href="structgbmath_1_1mat44.html#a2701cfe76461e9722ac37cc8afac457e">_42</a>=-y*d;    Out.<a class="code" href="structgbmath_1_1mat44.html#a47300a3aa5bb132868de2a94fe79d6e3">_43</a>=-z*d;    Out.<a class="code" href="structgbmath_1_1mat44.html#a0bf5358db28c4ccfe5d366b31b3a297f">_44</a>=f-w*d;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;     *<span class="keyword">this</span> = Out;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;     <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;}</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;</div>
<div class="line"><a name="l00113"></a><span class="lineno"><a class="code" href="structgbmath_1_1mat44.html#ad34d317151454522491fdf7e4be62d59">  113</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="structgbmath_1_1mat44.html#ad34d317151454522491fdf7e4be62d59">mat44::empty</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="structgbmath_1_1mat44.html" title="matrix 4x4. ">mat44</a> _ZERO(0.0f);</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    <span class="keywordflow">if</span>( memcmp( &amp;_ZERO.<a class="code" href="structgbmath_1_1mat44.html#af3e99cb3e2fa6aeb124b9f27964f2003">_11</a> , &amp;<a class="code" href="structgbmath_1_1mat44.html#af3e99cb3e2fa6aeb124b9f27964f2003">_11</a> , <span class="keyword">sizeof</span>(<a class="code" href="structgbmath_1_1mat44.html" title="matrix 4x4. ">mat44</a>) ) == 0 )</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;}</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;</div>
<div class="line"><a name="l00123"></a><span class="lineno"><a class="code" href="structgbmath_1_1mat44.html#a1275449645f2906e9e4cf5b1e54070e6">  123</a></span>&#160;<a class="code" href="structgbmath_1_1mat44.html" title="matrix 4x4. ">mat44</a> <a class="code" href="structgbmath_1_1mat44.html#a354bac9111f7d12688da9920545e5e0a" title="Multiply all elements of the matrix by a scalar. ">mat44::operator * </a>( <span class="keyword">const</span> <a class="code" href="structgbmath_1_1mat44.html" title="matrix 4x4. ">mat44</a>&amp; m )<span class="keyword"> const</span></div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    <a class="code" href="structgbmath_1_1mat44.html" title="matrix 4x4. ">mat44</a> r;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    r.<a class="code" href="structgbmath_1_1mat44.html#af3e99cb3e2fa6aeb124b9f27964f2003">_11</a> = <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[0][0] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[0][0] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[0][1] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[1][0] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[0][2] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[2][0] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[0][3] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[3][0];</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    r.<a class="code" href="structgbmath_1_1mat44.html#ae487a7a18dc991d17b5de87334728e6c">_12</a> = <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[0][0] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[0][1] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[0][1] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[1][1] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[0][2] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[2][1] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[0][3] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[3][1];</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    r.<a class="code" href="structgbmath_1_1mat44.html#abc27402f91ffb83ab0eb46bf591db261">_13</a> = <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[0][0] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[0][2] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[0][1] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[1][2] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[0][2] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[2][2] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[0][3] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[3][2];</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    r.<a class="code" href="structgbmath_1_1mat44.html#a1263c82107dce40f62bbf223d4a2fe58">_14</a> = <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[0][0] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[0][3] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[0][1] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[1][3] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[0][2] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[2][3] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[0][3] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[3][3];</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    r.<a class="code" href="structgbmath_1_1mat44.html#ae3126d9cf5d065ee9d24b3de96a5f17f">_21</a> = <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[1][0] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[0][0] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[1][1] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[1][0] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[1][2] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[2][0] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[1][3] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[3][0];</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    r.<a class="code" href="structgbmath_1_1mat44.html#a51a6825aacf2e40c7f4c1774d4105d9a">_22</a> = <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[1][0] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[0][1] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[1][1] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[1][1] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[1][2] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[2][1] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[1][3] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[3][1];</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    r.<a class="code" href="structgbmath_1_1mat44.html#a2e13ed94b2f1c06f590005498e834c41">_23</a> = <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[1][0] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[0][2] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[1][1] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[1][2] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[1][2] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[2][2] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[1][3] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[3][2];</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    r.<a class="code" href="structgbmath_1_1mat44.html#a02e896a0d8bb375f430fc387ff773248">_24</a> = <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[1][0] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[0][3] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[1][1] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[1][3] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[1][2] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[2][3] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[1][3] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[3][3];</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    r.<a class="code" href="structgbmath_1_1mat44.html#aabf304b5ece7ff9d2a006ca0467a3b27">_31</a> = <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[2][0] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[0][0] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[2][1] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[1][0] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[2][2] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[2][0] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[2][3] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[3][0];</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    r.<a class="code" href="structgbmath_1_1mat44.html#aa725b6a8854a3dea9cad3e393a42200a">_32</a> = <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[2][0] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[0][1] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[2][1] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[1][1] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[2][2] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[2][1] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[2][3] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[3][1];</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    r.<a class="code" href="structgbmath_1_1mat44.html#a5808bf751702b406781bf8d6e2a82408">_33</a> = <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[2][0] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[0][2] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[2][1] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[1][2] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[2][2] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[2][2] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[2][3] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[3][2];</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    r.<a class="code" href="structgbmath_1_1mat44.html#a0be86c8b892139d6fcd141a78d9bf02f">_34</a> = <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[2][0] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[0][3] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[2][1] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[1][3] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[2][2] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[2][3] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[2][3] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[3][3];</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    r.<a class="code" href="structgbmath_1_1mat44.html#a455efa123492579000a3f1ab054d86af">_41</a> = <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[3][0] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[0][0] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[3][1] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[1][0] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[3][2] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[2][0] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[3][3] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[3][0];</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    r.<a class="code" href="structgbmath_1_1mat44.html#a2701cfe76461e9722ac37cc8afac457e">_42</a> = <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[3][0] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[0][1] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[3][1] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[1][1] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[3][2] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[2][1] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[3][3] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[3][1];</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    r.<a class="code" href="structgbmath_1_1mat44.html#a47300a3aa5bb132868de2a94fe79d6e3">_43</a> = <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[3][0] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[0][2] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[3][1] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[1][2] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[3][2] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[2][2] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[3][3] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[3][2];</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    r.<a class="code" href="structgbmath_1_1mat44.html#a0bf5358db28c4ccfe5d366b31b3a297f">_44</a> = <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[3][0] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[0][3] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[3][1] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[1][3] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[3][2] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[2][3] + <a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[3][3] * m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[3][3];</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    <span class="keywordflow">return</span>  r;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;}</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;</div>
<div class="line"><a name="l00151"></a><span class="lineno"><a class="code" href="structgbmath_1_1mat44.html#a0e50c0a1e9b4686083957369e9fdb0ef">  151</a></span>&#160;<a class="code" href="structgbmath_1_1mat44.html" title="matrix 4x4. ">mat44</a>&amp; <a class="code" href="structgbmath_1_1mat44.html#a0e50c0a1e9b4686083957369e9fdb0ef" title="Inversion. Throws an exception if the inversion is not possible. OK. ">mat44::invert</a> () throw()</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;{</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    <a class="code" href="structgbmath_1_1mat44.html" title="matrix 4x4. ">mat44</a>* pthis = <span class="keyword">this</span>;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;<span class="preprocessor">#define SWAP_ROWS(a, b) {  float * _tmp = a; (a)=(b); (b)=_tmp; }</span></div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#define MAT(fl,r,c)     fl [r][c]</span></div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#define INV_ERR  // throw std::runtime_error(&quot;invert failed&quot;);</span></div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;<span class="preprocessor"></span></div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <span class="keywordtype">float</span>   wtmp [4][8];</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <span class="keywordtype">float</span>   m0, m1, m2, m3, s;</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="keywordtype">float</span>   * r0, * r1, * r2, * r3;</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    r0 = wtmp [0];</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    r1 = wtmp [1];</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    r2 = wtmp [2];</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    r3 = wtmp [3];</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    r0 [0] = <a class="code" href="mat44_8cpp.html#a00f0004c81699d6f9b957e4df490a04f">MAT</a>(<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>,0,0);</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    r0 [1] = <a class="code" href="mat44_8cpp.html#a00f0004c81699d6f9b957e4df490a04f">MAT</a>(<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>,0,1);</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    r0 [2] = <a class="code" href="mat44_8cpp.html#a00f0004c81699d6f9b957e4df490a04f">MAT</a>(<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>,0,2);</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    r0 [3] = <a class="code" href="mat44_8cpp.html#a00f0004c81699d6f9b957e4df490a04f">MAT</a>(<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>,0,3);</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    r0 [4] = 1;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    r0 [5] =</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    r0 [6] =</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    r0 [7] = 0;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    r1 [0] = <a class="code" href="mat44_8cpp.html#a00f0004c81699d6f9b957e4df490a04f">MAT</a>(<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>,1,0);</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    r1 [1] = <a class="code" href="mat44_8cpp.html#a00f0004c81699d6f9b957e4df490a04f">MAT</a>(<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>,1,1);</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    r1 [2] = <a class="code" href="mat44_8cpp.html#a00f0004c81699d6f9b957e4df490a04f">MAT</a>(<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>,1,2);</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    r1 [3] = <a class="code" href="mat44_8cpp.html#a00f0004c81699d6f9b957e4df490a04f">MAT</a>(<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>,1,3);</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    r1 [5] = 1;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    r1 [4] =</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    r1 [6] =</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    r1 [7] = 0,</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    r2 [0] = <a class="code" href="mat44_8cpp.html#a00f0004c81699d6f9b957e4df490a04f">MAT</a>(<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>,2,0);</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    r2 [1] = <a class="code" href="mat44_8cpp.html#a00f0004c81699d6f9b957e4df490a04f">MAT</a>(<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>,2,1);</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    r2 [2] = <a class="code" href="mat44_8cpp.html#a00f0004c81699d6f9b957e4df490a04f">MAT</a>(<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>,2,2);</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    r2 [3] = <a class="code" href="mat44_8cpp.html#a00f0004c81699d6f9b957e4df490a04f">MAT</a>(<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>,2,3);</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    r2 [6] = 1;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    r2 [4] =</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    r2 [5] =</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    r2 [7] = 0;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    r3 [0] = <a class="code" href="mat44_8cpp.html#a00f0004c81699d6f9b957e4df490a04f">MAT</a>(<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>,3,0);</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    r3 [1] = <a class="code" href="mat44_8cpp.html#a00f0004c81699d6f9b957e4df490a04f">MAT</a>(<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>,3,1);</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    r3 [2] = <a class="code" href="mat44_8cpp.html#a00f0004c81699d6f9b957e4df490a04f">MAT</a>(<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>,3,2);</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    r3 [3] = <a class="code" href="mat44_8cpp.html#a00f0004c81699d6f9b957e4df490a04f">MAT</a>(<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>,3,3);</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    r3 [7] = 1;</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    r3 [4] =</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    r3 [5] =</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    r3 [6] = 0;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;                                            <span class="comment">// choose pivot - or die</span></div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    <span class="keywordflow">if</span> ( fabs (r3 [0] )&gt; fabs ( r2 [0] ) )</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        <a class="code" href="mat44_8cpp.html#ab05eff8e781b00b86776d167de0be400">SWAP_ROWS</a> ( r3, r2 );</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    <span class="keywordflow">if</span> ( fabs ( r2 [0] ) &gt; fabs ( r1 [0] ) )</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        <a class="code" href="mat44_8cpp.html#ab05eff8e781b00b86776d167de0be400">SWAP_ROWS</a> ( r2, r1 );</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    <span class="keywordflow">if</span> ( fabs ( r1 [0] ) &gt; fabs ( r0 [0 ] ) )</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        <a class="code" href="mat44_8cpp.html#ab05eff8e781b00b86776d167de0be400">SWAP_ROWS</a> ( r1, r0 );</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    <span class="keywordflow">if</span> ( r0 [0] == 0 )</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    {</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;          <a class="code" href="mat44_8cpp.html#ad23096d4d320887df98c41f38893d767">INV_ERR</a></div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;        <span class="comment">//return false;</span></div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    }</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;                                            <span class="comment">// eliminate first variable</span></div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    m1 = r1[0]/r0[0];</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    m2 = r2[0]/r0[0];</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    m3 = r3[0]/r0[0];</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    s = r0[1];</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    r1[1] -= m1 * s;</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    r2[1] -= m2 * s;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    r3[1] -= m3 * s;</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    s = r0[2];</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    r1[2] -= m1 * s;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    r2[2] -= m2 * s;</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    r3[2] -= m3 * s;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    s = r0[3];</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    r1[3] -= m1 * s;</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;    r2[3] -= m2 * s;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    r3[3] -= m3 * s;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    s = r0[4];</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    <span class="keywordflow">if</span> ( s != 0 )</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    {</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;        r1[4] -= m1 * s; r2[4] -= m2 * s; r3[4] -= m3 * s;</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    }</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;    s = r0[5];</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    <span class="keywordflow">if</span> ( s != 0.0 )</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    {</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;        r1[5] -= m1 * s; r2[5] -= m2 * s; r3[5] -= m3 * s;</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    }</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    s = r0[6];</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    <span class="keywordflow">if</span> ( s != 0 )</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;    {</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;        r1[6] -= m1 * s; r2[6] -= m2 * s; r3[6] -= m3 * s;</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;    }</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;    s = r0[7];</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;    <span class="keywordflow">if</span> ( s != 0 )</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;    {</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;        r1[7] -= m1 * s; r2[7] -= m2 * s; r3[7] -= m3 * s;</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;    }</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;                                            <span class="comment">// choose pivot - or die</span></div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;    <span class="keywordflow">if</span> ( fabs (r3 [1] ) &gt; fabs ( r2 [1] ) )</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;        <a class="code" href="mat44_8cpp.html#ab05eff8e781b00b86776d167de0be400">SWAP_ROWS</a> ( r3, r2 );</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;    <span class="keywordflow">if</span> ( fabs ( r2 [1] ) &gt; fabs ( r1 [1] ) )</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;        <a class="code" href="mat44_8cpp.html#ab05eff8e781b00b86776d167de0be400">SWAP_ROWS</a> ( r2, r1 );</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    <span class="keywordflow">if</span> ( r1 [1] == 0 )</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    {</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;       <a class="code" href="mat44_8cpp.html#ad23096d4d320887df98c41f38893d767">INV_ERR</a></div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;        <span class="comment">//return false;</span></div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    }</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;                                            <span class="comment">// eliminate second variable</span></div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    m2     = r2[1]/r1[1]; m3     = r3[1]/r1[1];</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;    r2[2] -= m2 * r1[2];  r3[2] -= m3 * r1[2];</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    r2[3] -= m2 * r1[3];  r3[3] -= m3 * r1[3];</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;    s = r1[4];</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;    <span class="keywordflow">if</span> ( 0 != s )</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    {</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;        r2[4] -= m2 * s; r3[4] -= m3 * s;</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    }</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    s = r1[5];</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    <span class="keywordflow">if</span> ( 0 != s )</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;    {</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;        r2[5] -= m2 * s; r3[5] -= m3 * s;</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;    }</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;    s = r1[6];</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;    <span class="keywordflow">if</span> ( 0 != s )</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;    {</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;        r2[6] -= m2 * s; r3[6] -= m3 * s;</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;    }</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;    s = r1[7];</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;    <span class="keywordflow">if</span> ( 0 != s )</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;    {</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;        r2[7] -= m2 * s; r3[7] -= m3 * s;</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;    }</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;                                            <span class="comment">// choose pivot - or die</span></div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;    <span class="keywordflow">if</span> ( fabs ( r3 [2] ) &gt; fabs ( r2 [2] ) )</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;        <a class="code" href="mat44_8cpp.html#ab05eff8e781b00b86776d167de0be400">SWAP_ROWS</a> ( r3, r2 );</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    <span class="keywordflow">if</span> ( r2 [2] == 0)</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;    {</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;        <a class="code" href="mat44_8cpp.html#ad23096d4d320887df98c41f38893d767">INV_ERR</a></div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;        <span class="comment">//return false;</span></div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;    }</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;                                            <span class="comment">// eliminate third variable</span></div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;    m3     = r3[2]/r2[2];</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;    r3[3] -= m3 * r2[3], r3[4] -= m3 * r2[4],</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;    r3[5] -= m3 * r2[5], r3[6] -= m3 * r2[6],</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;    r3[7] -= m3 * r2[7];</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;                                            <span class="comment">// last check</span></div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;    <span class="keywordflow">if</span> ( r3 [3] == 0 )</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;    {</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;        <a class="code" href="mat44_8cpp.html#ad23096d4d320887df98c41f38893d767">INV_ERR</a></div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;        <span class="comment">//return false;</span></div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;    }</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;                                            <span class="comment">// now back substitute row 3</span></div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;    s      = 1/r3[3];</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;    r3[4] *= s; r3[5] *= s; r3[6] *= s; r3[7] *= s;</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;                                            <span class="comment">// now back substitute row 2</span></div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;    m2    = r2[3];</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;    s     = 1/r2[2];</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;    r2[4] = s * (r2[4] - r3[4] * m2), r2[5] = s * (r2[5] - r3[5] * m2),</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;    r2[6] = s * (r2[6] - r3[6] * m2), r2[7] = s * (r2[7] - r3[7] * m2);</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;    m1     = r1[3];</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;    r1[4] -= r3[4] * m1, r1[5] -= r3[5] * m1,</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;    r1[6] -= r3[6] * m1, r1[7] -= r3[7] * m1;</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;    m0     = r0[3];</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;    r0[4] -= r3[4] * m0, r0[5] -= r3[5] * m0,</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;    r0[6] -= r3[6] * m0, r0[7] -= r3[7] * m0;</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;                                            <span class="comment">// now back substitute row 1</span></div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;    m1    = r1[2];</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;    s     = 1/r1[1];</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;    r1[4] = s * (r1[4] - r2[4] * m1), r1[5] = s * (r1[5] - r2[5] * m1),</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;    r1[6] = s * (r1[6] - r2[6] * m1), r1[7] = s * (r1[7] - r2[7] * m1);</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;    m0     = r0[2];</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;    r0[4] -= r2[4] * m0, r0[5] -= r2[5] * m0,</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;    r0[6] -= r2[6] * m0, r0[7] -= r2[7] * m0;</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;                                            <span class="comment">// now back substitute row 0</span></div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;    m0    = r0[1];</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;    s     = 1/r0[0];</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;    r0[4] = s * (r0[4] - r1[4] * m0), r0[5] = s * (r0[5] - r1[5] * m0),</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;    r0[6] = s * (r0[6] - r1[6] * m0), r0[7] = s * (r0[7] - r1[7] * m0);</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;    <a class="code" href="mat44_8cpp.html#a00f0004c81699d6f9b957e4df490a04f">MAT</a>(<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>,0,0) = r0[4];   <a class="code" href="mat44_8cpp.html#a00f0004c81699d6f9b957e4df490a04f">MAT</a>(<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>,0,1) = r0[5],</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;    <a class="code" href="mat44_8cpp.html#a00f0004c81699d6f9b957e4df490a04f">MAT</a>(<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>,0,2) = r0[6];   <a class="code" href="mat44_8cpp.html#a00f0004c81699d6f9b957e4df490a04f">MAT</a>(<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>,0,3) = r0[7],</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;    <a class="code" href="mat44_8cpp.html#a00f0004c81699d6f9b957e4df490a04f">MAT</a>(<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>,1,0) = r1[4];   <a class="code" href="mat44_8cpp.html#a00f0004c81699d6f9b957e4df490a04f">MAT</a>(<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>,1,1) = r1[5],</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;    <a class="code" href="mat44_8cpp.html#a00f0004c81699d6f9b957e4df490a04f">MAT</a>(<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>,1,2) = r1[6];   <a class="code" href="mat44_8cpp.html#a00f0004c81699d6f9b957e4df490a04f">MAT</a>(<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>,1,3) = r1[7],</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;    <a class="code" href="mat44_8cpp.html#a00f0004c81699d6f9b957e4df490a04f">MAT</a>(<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>,2,0) = r2[4];   <a class="code" href="mat44_8cpp.html#a00f0004c81699d6f9b957e4df490a04f">MAT</a>(<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>,2,1) = r2[5],</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;    <a class="code" href="mat44_8cpp.html#a00f0004c81699d6f9b957e4df490a04f">MAT</a>(<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>,2,2) = r2[6];   <a class="code" href="mat44_8cpp.html#a00f0004c81699d6f9b957e4df490a04f">MAT</a>(<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>,2,3) = r2[7],</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;    <a class="code" href="mat44_8cpp.html#a00f0004c81699d6f9b957e4df490a04f">MAT</a>(<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>,3,0) = r3[4];   <a class="code" href="mat44_8cpp.html#a00f0004c81699d6f9b957e4df490a04f">MAT</a>(<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>,3,1) = r3[5],</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;    <a class="code" href="mat44_8cpp.html#a00f0004c81699d6f9b957e4df490a04f">MAT</a>(<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>,3,2) = r3[6];   <a class="code" href="mat44_8cpp.html#a00f0004c81699d6f9b957e4df490a04f">MAT</a>(<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>,3,3) = r3[7];</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;<span class="preprocessor">#undef MAT</span></div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#undef SWAP_ROWS</span></div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#undef INV_ERR</span></div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;<span class="preprocessor"></span></div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160; </div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;    <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;}</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;<span class="comment">//====================================================================</span></div>
<div class="line"><a name="l00392"></a><span class="lineno"><a class="code" href="structgbmath_1_1mat44.html#a2ed0533ef8d8ebd685f0127469ffcc62">  392</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="structgbmath_1_1mat44.html#a2ed0533ef8d8ebd685f0127469ffcc62" title="Decompose matrix transform data. CHEKED! ">mat44::decompose</a>( <a class="code" href="structgbmath_1_1vec3.html" title="3d-base vector. Corrected by operators epislon ">vec3</a>&amp; scale,  <a class="code" href="classgbmath_1_1_quaternion.html" title="standard quaternion. ">Quaternion</a>&amp; rot, <a class="code" href="structgbmath_1_1vec3.html" title="3d-base vector. Corrected by operators epislon ">vec3</a>&amp; pos )<span class="keyword"> const</span></div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;    <a class="code" href="structgbmath_1_1mat44.html" title="matrix 4x4. ">mat44</a> m =  *<span class="keyword">this</span>;;</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;    pos =  <a class="code" href="structgbmath_1_1mat44.html#a2c7c11788e13a5061c010433360e1af0" title="get translation part. ">getTranslation</a>();</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;    scale.<a class="code" href="structgbmath_1_1vec3.html#a5fb2cf8734338da1ad7b4251a3bde292">x</a> =  sqrt(  <a class="code" href="namespacegbmath.html#af7ceb382df8a74edbe983b1745229cce" title="x*x ">sqr</a>(m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[0][0]) +   <a class="code" href="namespacegbmath.html#af7ceb382df8a74edbe983b1745229cce" title="x*x ">sqr</a>(m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[0][1]) +   <a class="code" href="namespacegbmath.html#af7ceb382df8a74edbe983b1745229cce" title="x*x ">sqr</a>(m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[0][2]));</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;    scale.<a class="code" href="structgbmath_1_1vec3.html#aa096d36a3c46c4224f0195f70eb580ec">y</a> =  sqrt(  <a class="code" href="namespacegbmath.html#af7ceb382df8a74edbe983b1745229cce" title="x*x ">sqr</a>(m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[1][0]) +   <a class="code" href="namespacegbmath.html#af7ceb382df8a74edbe983b1745229cce" title="x*x ">sqr</a>(m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[1][1]) +   <a class="code" href="namespacegbmath.html#af7ceb382df8a74edbe983b1745229cce" title="x*x ">sqr</a>(m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[1][2]));</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;    scale.<a class="code" href="structgbmath_1_1vec3.html#a546e6c38e7c49102f064d130ed3475ee">z</a> =  sqrt(  <a class="code" href="namespacegbmath.html#af7ceb382df8a74edbe983b1745229cce" title="x*x ">sqr</a>(m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[2][0]) +   <a class="code" href="namespacegbmath.html#af7ceb382df8a74edbe983b1745229cce" title="x*x ">sqr</a>(m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[2][1]) +   <a class="code" href="namespacegbmath.html#af7ceb382df8a74edbe983b1745229cce" title="x*x ">sqr</a>(m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[2][2]));</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0; i&lt;3; i++)</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;    {</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;        <span class="keywordflow">if</span> (scale.<a class="code" href="structgbmath_1_1vec3.html#abbb36cd61978768f94caf3b8d57c2680">floats</a>[i] &gt; <a class="code" href="namespacegbmath.html#acd96829ace89d35c295aac16fe50f3fc">EPSILON</a>)</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;        {</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;            m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[i][0] /= scale.<a class="code" href="structgbmath_1_1vec3.html#abbb36cd61978768f94caf3b8d57c2680">floats</a>[i];</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;            m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[i][1] /= scale.<a class="code" href="structgbmath_1_1vec3.html#abbb36cd61978768f94caf3b8d57c2680">floats</a>[i];</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;            m.<a class="code" href="structgbmath_1_1mat44.html#abfc90602ae12e59095d384cd61ce970a">floats</a>[i][2] /= scale.<a class="code" href="structgbmath_1_1vec3.html#abbb36cd61978768f94caf3b8d57c2680">floats</a>[i];</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;        }</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;    }</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;    rot.<a class="code" href="classgbmath_1_1_quaternion.html#a08abd49fa41bda4037c9230a78e62724" title="set as rotation from matrix ">setRotationMatrix</a>(m);</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;}</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;<span class="comment">// void mat44::decompose(vec3&amp; pos,  Quaternion&amp; rot, vec3&amp; scale) const</span></div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;<span class="comment">// {</span></div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;        <span class="comment">// mat44 m = *this;</span></div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;        <span class="comment">// pos = m.getPos();</span></div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;        <span class="comment">// scale.x = gbmath::sqrt(gbmath::sqr(m.data[0][0]) + gbmath::sqr(m.data[0][1]) + gbmath::sqr(m.data[0][2]));</span></div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;        <span class="comment">// scale.y = gbmath::sqrt(gbmath::sqr(m.data[1][0]) + gbmath::sqr(m.data[1][1]) + gbmath::sqr(m.data[1][2]));</span></div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;        <span class="comment">// scale.z = gbmath::sqrt(gbmath::sqr(m.data[2][0]) + gbmath::sqr(m.data[2][1]) + gbmath::sqr(m.data[2][2]));</span></div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;        <span class="comment">// for (int i=0; i&lt;3; i++) {</span></div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;            <span class="comment">// if (scale.v[i] &gt; EPSILON) {</span></div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;                <span class="comment">// m.data[i][0] /= scale.v[i];</span></div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;                <span class="comment">// m.data[i][1] /= scale.v[i];</span></div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;                <span class="comment">// m.data[i][2] /= scale.v[i];</span></div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;            <span class="comment">// }</span></div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;        <span class="comment">// }</span></div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;        <span class="comment">// rot.fromMatrix(m);</span></div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;<span class="comment">// }</span></div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160; </div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;}</div>
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